Compressor sucker assembly manufacturing method and system

Abstract

The invention relates to a compressor suction cup assembly manufacturing method and system. The method comprises the steps that according to surface image information, it is determined that inspection is completed or a rough selvedge range is selected; determining a burr width and a burr path based on the burr range; the grinding feeding amount is determined according to the burr width; determining a polishing starting point according to the maximum value of the polishing feeding amount based on the full-package path; according to the grinding feeding amount, a grinding device is controlled to conduct surrounding grinding on the burr characteristics along the full-wrapping path through a grinding method; determining a burr breakpoint according to the surface image information based on the half-package path; determining a polishing interval and a polishing path according to the burr breakpoints and the burr features; according to the grinding feeding amount, the grinding device is controlled to conduct back-and-forth grinding on the burr characteristics along the grinding path in the grinding interval through a grinding method; the surface image information is updated after polishing is completed; and according to the updated surface image information, the polishing completion or burr updating range is determined. The method has the effect of improving the working efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automation, and in particular to a method and system for manufacturing a compressor suction cup assembly. Background Art

[0002] The compressor suction cup assembly refers to a structure designed to adsorb, fix or connect components in the compressor, which has a specific design to adapt to the working environment and requirements of the compressor.

[0003] In the prior art, a compressor suction cup assembly generally includes a suction cup, a supporting structure, a control system, a vacuum generator, etc. When manufacturing the suction cup in the compressor suction cup assembly, injection molding is generally used for manufacturing.

[0004] With regard to the above-mentioned related technologies, suction cups manufactured by injection molding are mostly prone to burrs. When removing the burrs, manual grinding is usually used to remove the burrs, which reduces work efficiency and needs to be improved. Summary of the invention

[0005] In order to improve work efficiency, the present invention provides a compressor suction cup assembly manufacturing method and system.

[0006] In a first aspect, the present invention provides a method for manufacturing a compressor suction cup assembly, which adopts the following technical solution: A method for manufacturing a compressor suction cup assembly, comprising: Acquire surface image information of the suction cup; Determine the completion of inspection or select the burr range according to the inclusion between the surface image information and the preset burr features; Determine the burr width and burr path based on the burr range, the burr path includes a full-wrapped path and a half-wrapped path; Determine the grinding feed rate based on the burr width; Based on the full-package path, the grinding starting point is determined according to the maximum grinding feed amount; Controlling a preset grinding device to move to a grinding starting point, and controlling the grinding device to perform circumferential grinding of the burr feature along a full-enclosed path using a preset grinding method according to a grinding feed amount; Based on the half-wrapped path, the burr breakpoint is determined according to the surface image information and burr features; Determine the grinding range and grinding path according to the burr breakpoint and burr characteristics; According to the grinding feed amount, the grinding device is controlled to grind the burr feature back and forth along the grinding path within the grinding interval by a grinding method; Update surface image information after polishing is completed; The range of completing grinding or updating the burr edge is determined according to the updated surface image information and the inclusion condition between the burr edge features.

[0007] By adopting the above technical solution, when there are burrs on the suction cup, the treatment method is known by understanding the type of burr path. When it is a full-cover path, the grinding starting point is determined by the maximum grinding feed amount, and then the grinding device is controlled to move to the grinding starting point and perform circumferential grinding on the burr features along the full-cover path, thereby increasing the grinding speed. When it is a half-cover path, the grinding interval and grinding path are known by understanding the burr breakpoint, and then the grinding device is controlled to perform round-trip grinding on the burr features along the grinding path within the grinding interval, thereby reducing energy consumption and improving work efficiency.

[0008] Optionally, during grinding, the dust dropped by grinding is treated with a preset treatment method, and the treatment method includes: Obtaining the status signal of the grinding device and the material parameters of the suction cup; Determine to continue acquiring the status signal according to the consistency between the status signal and the preset grinding signal or determine the burr curvature according to the surface image information and the burr feature; Determine the grinding angle based on the curvature of the burr edge; Determine the grinding position according to the preset suction cup detection position and grinding angle; Matching the recycling position from a preset recycling database according to material parameters, grinding angle, grinding position and preset grinding speed; The blowing vector is determined according to the recovery position, material parameters and grinding angle, and the preset blowing device is controlled to blow the dust to the recovery position with the blowing vector.

[0009] By adopting the above technical solution, when the grinding device is grinding, the burr curvature is known, and then the grinding angle is known, so as to ensure that the grinding device is tangent to the burr. Then, by understanding the material parameters, grinding angle, grinding position and grinding speed, the recovery position is known, and then the blowing vector is known, so as to ensure that the blowing device can blow the dust to the recovery position, thereby improving the dust recovery efficiency and reducing dust splashing.

[0010] Optional grinding methods include: Match the grinding temperature from the preset grinding database according to the material parameters and burr width; According to the grinding temperature and the preset grinding disc circumference, a correction speed is matched from a preset temperature database; Correct the grinding speed according to the correction speed; Based on the grinding angle, the grinding device is controlled to grind the burr feature at a corrected grinding speed and a preset grinding grit, and the position where the grinding device contacts the suction cup during grinding is defined as an initial friction position; Based on the polishing process, polishing image information is obtained; Determine the remaining grinding width according to the grinding image information and the burr characteristics; Update the grinding mesh count from the grinding database according to the remaining grinding width; Determine the target friction position from the preset grit database according to the updated grinding grit; Controlling the grinding device to move the initial friction position to the target friction position, and updating the grinding speed from the temperature database according to the target friction position and the grinding temperature; Based on the grinding angle, the grinding device is controlled to grind the burr feature with the updated grinding rotation speed and the updated grinding grit, and the grinding image information is updated.

[0011] By adopting the above technical solution, the grinding temperature is known by understanding the material parameters and the burr width, and then the correction speed is known, so as to correct the grinding speed to ensure that the fastest speed can be used for grinding without affecting the suction cup. When grinding, the remaining grinding width is known by understanding the grinding image information and burr characteristics, so as to update the grinding mesh number, target friction position and grinding speed, and then increase the grinding accuracy, so as to improve the grinding efficiency.

[0012] Optionally, the grinding method also includes: When the surface image information contains burr features, a preset clamping device is controlled to clamp the suction cup into a preset rough grinding pool; In the rough grinding pool, the rough grinding speed is determined from a preset rough grinding database according to material parameters and burr width, and the rotation direction is determined according to a preset water outlet position and a preset water inlet position; According to the rough grinding speed, the grinding device is controlled to roughly grind the suction cup along the burr path in the rotation direction, so that the water in the rough grinding pool flows out from the water outlet position and flows into the rough grinding pool from the water inlet position through the preset water channel; Based on the rough grinding, the water level information in the rough grinding pool is obtained; Determine to continue to obtain water level information or obtain water temperature information in the rough grinding pool according to the size relationship between the water level information and the preset reference water level information; Based on the water temperature information in the rough grinding pool, the difference between the reference water level information and the water level information is calculated, and the difference is defined as the water level supplement value; According to the excess between the water temperature information and the preset reference water temperature information, the preset water replenishment equipment is controlled to replenish water with the water level replenishment value, or the ice replenishment value is matched from the preset ice database according to the water level replenishment value; According to the ice replenishment value, the preset ice delivery device is controlled to replenish ice in the preset ice delivery area, and after replenishment, the water temperature information is updated; According to the excess between the updated water temperature information and the benchmark water temperature information, determine to continue to obtain the water temperature information or calculate the difference between the updated water temperature information and the benchmark water temperature information, define the difference as the cooling temperature value, and control the preset cooling device to cool the water pipeline at the cooling temperature value.

[0013] By adopting the above technical solution, the direction of rotation is known by understanding the position of the water outlet and the water inlet, so that the water flow in the rough grinding pool can flow to the water outlet, thereby realizing water circulation in the rough grinding pool. When it is necessary to replenish water in the rough grinding pool, the method of replenishing water is known by understanding the excess between the water temperature information and the reference water temperature information. When it does not exceed, the water level can be raised directly by replenishing water. When it exceeds, ice cubes are used to replenish to raise the water level, and then the water is cooled while raising the water level. And when the water temperature still exceeds after the ice cubes are replenished, the water pipe is cooled by a cooling device. This reduces resource waste.

[0014] Optionally, also include: When the state signal of the grinding device is consistent with the preset standby signal, the clamping device is controlled to clamp the suction cup to the preset weighing area and obtain the weight value of the suction cup; According to the suction cup weight value, a drying position corresponding to the suction cup weight value is matched from a preset drying database; Determine the drying method according to the drying location; Calculate the ejection distance value according to the drying position and weighing area; Matching the ejection force value from a preset ejection database according to the suction cup weight value and the ejection distance value; According to the ejection force value, a preset ejection device is controlled to eject the suction cup to the corresponding drying position; In the drying position, a preset drying device is controlled to dry the suction cup using a drying method.

[0015] By adopting the above technical solution, the corresponding drying position and drying method can be known by understanding the weight of the suction cup. Then, the ejection force value can be matched with the calculated ejection distance value, so as to control the ejection device to eject the suction cup to the corresponding drying position, and then dry the suction cup, thereby improving the suction cup drying efficiency.

[0016] Optionally, also include: Calculate the difference between the suction cup weight value and the preset suction cup reference weight value, and define it as the suction cup moisture content; Match the ejection angle from the ejection database according to the moisture content of the suction cup and the ejection distance value; Update the ejection force value from the ejection database according to the ejection angle, the suction cup weight value and the ejection distance value; Determine the ejection height value based on the ejection force value, ejection angle, and suction cup weight value; Determine whether the pop-up height value is greater than the preset reference height value; If the ejection height value is not greater than the reference height value, the ejection device is controlled to eject the suction cup to the corresponding drying position according to the ejection angle and the updated ejection force value; If the ejection height value is greater than the reference height value, the ejection angle is updated from the ejection database according to the reference height value; Correct the ejection force value according to the updated ejection angle and drying position; According to the updated ejection angle and the corrected ejection force value, the ejection device is controlled to eject the suction cup to the corresponding drying position; The drying device is controlled in the drying position to dry the suction cup using a drying method.

[0017] By adopting the above technical solution, the moisture content of the suction cup is obtained by calculating the difference between the suction cup weight value and the suction cup reference weight value, and then the corresponding ejection angle is matched to update the pop-up force value. The pop-up height value is then matched with the pop-up force value and the suction cup weight value, and the pop-up height value is compared with the reference height value to know the actual height of the suction cup pop-up. When the actual height is the pop-up height value, the suction cup is directly ejected to the corresponding drying position. When the actual height is the reference height value, the ejection angle and the ejection force value are updated by the reference height value, and then the suction cup is ejected to the corresponding drying position to dry the suction cup. During the ejection process of the suction cup, the moisture attached to the suction cup will be thrown out due to the ejection movement, thereby improving the drying efficiency of the suction cup.

[0018] Optionally, also include: After the suction cup is clamped to the weighing area by the clamping device, the pool surface image information of the rough grinding pool is obtained; Determine the completion of detection or select the waste area based on the inclusion between the pool surface image information and the preset waste features; Determine the waste concentration area based on pool surface image information and waste area; Calculate the number of the stirring device closest to the waste concentration area from a preset number database according to the pool surface image information, the waste concentration area and the preset reference object; Based on the stirring device number, controlling the corresponding stirring device to rotate at a preset rotation speed; When rotating, the preset salvaging device is controlled to move to the position corresponding to the number of the stirring device to salvage the waste; Based on the salvage process, update the pool surface image information; The inclusion between the updated pool surface image information and the waste features is used to determine the completion of salvaging or updating the waste area.

[0019] By adopting the above technical solution, the existence of waste can be known by understanding the inclusion between the pool surface image information and the waste features. When waste exists, the waste concentration area can be obtained by selecting the waste area, and then the stirring device number can be known. By controlling the stirring device corresponding to the stirring device number to rotate, the waste can be attracted to the rotation center so that the salvage device can salvage the waste. The recycling efficiency of waste can be improved.

[0020] Optionally, also include: Determine whether the burr width is greater than a preset reference width; If the burr width is not greater than the reference width, the grinding device is controlled according to the grinding feed amount to grind the burr feature along the burr path using a grinding method; If the burr width is greater than the reference width, the difference between the burr width and the preset minimum retention width is calculated, and the difference is defined as the burr removal value; Get the burr thickness of the burr; According to the burr thickness, the laser power is matched from the preset laser database; Determine the cutting path according to the burr width and burr cutting value; The preset cutting device is controlled according to the laser power to cut the burrs along the cutting path.

[0021] By adopting the above technical solution, the grinding situation can be known by understanding the size relationship between the burr width and the reference width. When the burr width is greater than the reference width, direct grinding is too time-consuming. The burr removal value can be known by calculating the difference between the burr width and the minimum retention width. Then, the laser power can be known by understanding the burr thickness, and then the removal device can be controlled to remove the burr along the removal path for subsequent grinding, thereby improving the grinding efficiency.

[0022] Optionally, the pop-up force value needs to be calculated through the algorithm configuration, and the algorithm configuration is: ,in, is the weight of the suction cup, is the acceleration due to gravity, is the pop-up distance value, is the effective distance of the ejection device when it is lifted, is the ejection angle, is the pop-up force value.

[0023] By adopting the above technical solution and using the above algorithm configuration, the pop-up force value is calculated, so that the suction cup can be ejected from the weighing area to the drying position, avoiding the failure of the suction cup to be ejected to the drying position due to insufficient or excessive pop-up force value, thereby improving the drying efficiency.

[0024] In a second aspect, the present application provides a compressor suction cup assembly manufacturing system, which adopts the following technical solution: A compressor suction cup assembly manufacturing system, comprising: An acquisition module is used to acquire surface image information, state signals, material parameters, polishing image information, water level information, water temperature information, suction cup weight value, pool surface image information, and burr thickness; A memory for storing a program of any one of the above methods for manufacturing a compressor suction cup assembly; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned compressor suction cup assembly manufacturing methods.

[0025] By adopting the above technical solution, when there are burrs on the suction cup, the treatment method is known by understanding the type of burr path. When it is a full-cover path, the grinding starting point is determined by the maximum grinding feed amount, and then the grinding device is controlled to move to the grinding starting point and perform circumferential grinding on the burr features along the full-cover path, thereby increasing the grinding speed. When it is a half-cover path, the grinding interval and grinding path are known by understanding the burr breakpoint, and then the grinding device is controlled to perform round-trip grinding on the burr features along the grinding path within the grinding interval, thereby reducing energy consumption and improving work efficiency.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. By understanding the burr path of the burr, the grinding device is controlled to grind the burr features, so as to improve the efficiency of burr removal and thus improve work efficiency; 2. By understanding the water level information and water temperature information, the water replenishment equipment, ice replenishment equipment and cooling device are controlled to replenish and cool the water in the rough grinding pool, thereby reducing resource waste; 3. The suction cup is ejected to the corresponding drying position by controlling the ejection device, and then the suction cup is dried to improve the drying efficiency of the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a method flow chart of a method for manufacturing a compressor suction cup assembly in an embodiment of the present invention; Figure 2 is a method flow chart of a processing method in an embodiment of the present invention; Figure 3 It is a method flow chart of the grinding method in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-Figure 3 The present invention is further described in detail with examples.

[0029] The embodiment of the present application discloses a method for manufacturing a suction cup assembly of a compressor, and the burrs are processed in a targeted manner by understanding different burr paths. Before grinding, a portion of the burrs is cut off by laser cutting, and then the suction cup is placed in a rough grinding pool for rough grinding, and then the suction cup is dried, and finally the burrs are thoroughly ground. During grinding, the dust dropped by grinding is blown into a recovery device. And after rough grinding, the waste in the rough grinding pool is salvaged.

[0030] Reference Figure 1 , a method for manufacturing a compressor suction cup assembly, comprising the following steps: Step 100: Acquire surface image information of the suction cup.

[0031] The surface image information refers to the image of the outer surface of the suction cup, and the surface image information is obtained by taking a picture with a camera.

[0032] Step 101: Determine whether to complete the inspection or select the burr range based on the inclusion between the surface image information and the preset burr features.

[0033] The burr feature refers to the feature of the burr that appears on the outer surface of the suction cup after it is manufactured. The burr feature is set in advance by a person skilled in the art and will not be described in detail here. By judging the inclusion between the surface image information and the burr feature, it is known whether there is burr on the suction cup surface.

[0034] If the surface image information does not contain burr features, it means that there is no burr on the qualified surface of the suction cup, the suction cup is qualified, and the inspection is completed.

[0035] If the surface image information contains burrs, it means that there are burrs on the surface of the suction cup. You need to select the burr range with the burrs through the surface image information. The burr range refers to the range of the suction cup surface where burrs exist.

[0036] Step 102: Determine the burr width and burr path based on the burr range, where the burr path includes a full-wrapped path and a half-wrapped path.

[0037] The burr width refers to the width of the burr extending outward from the suction cup. The burr path refers to a continuous path of the burr on the suction cup. The burr width and burr path can be obtained by scanning the burr range with a preset infrared scanner. Among them, the burr path includes a full-wrapped path and a half-wrapped path. The full-wrapped path refers to a continuous burr path of the burr around the suction cup. The half-wrapped path refers to a burr path with a breakpoint on the suction cup. There can be multiple half-wrapped paths.

[0038] Step 103: Determine the grinding feed rate according to the burr width.

[0039] The grinding feed rate refers to the distance the grinding device moves from the outermost side of the burr to the suction cup. Since the burr needs to be completely removed by grinding, the burr width is the grinding feed rate.

[0040] Step 104: Based on the full-package path, determine the grinding starting point according to the maximum grinding feed amount.

[0041] When the burr path is a full-cover path, the grinding starting point is obtained by understanding the maximum grinding feed amount. The grinding starting point refers to the position where the grinding device starts grinding the burr. The maximum grinding feed amount is determined as the grinding starting point. And when there are multiple maximum grinding feed amounts, the point closest to the grinding device is selected as the grinding starting point.

[0042] Step 105: Control the preset grinding device to move to the grinding starting point, and control the grinding device to perform circumferential grinding on the burr feature along the full-enclosed path using a preset grinding method according to the grinding feed rate.

[0043] The grinding device refers to a grinding wheel used to grind the burrs. The grinding method refers to a method used to grind the burrs. The grinding method is described in detail in the subsequent steps 300 to 309 and will not be described here. The grinding device is controlled to move to the grinding starting point, and the grinding device is controlled to perform circumferential grinding of the burrs along the full-coverage path with the grinding feed amount and the grinding method.

[0044] Step 106: Based on the half-wrapped path, determine the burr breakpoint according to the surface image information and the burr features.

[0045] The burr breakpoint refers to the point where the burr feature exists on one side but not on the other side when the burr path is a half-wrapped path. The burr feature can be identified through the surface image information, so as to identify the point where the burr feature exists on one side but not on the other side, and then get the burr breakpoint.

[0046] Step 107: Determine the grinding range and grinding path according to the burr breakpoints and burr features.

[0047] The grinding range refers to the position range that the grinding device needs to grind. The grinding path refers to the path of the grinding device during grinding. The area that needs to be polished can be known through the burr feature, and the starting point of the area can be obtained through the burr breakpoint, and then the grinding range and grinding path can be obtained.

[0048] Step 108: According to the grinding feed rate, the grinding device is controlled to grind the burr feature back and forth along the grinding path within the grinding interval using a grinding method.

[0049] The burr feature is ground back and forth along the grinding path within the grinding interval by controlling the grinding device with a grinding method and a grinding feed rate.

[0050] Step 109: Update the surface image information after polishing is completed.

[0051] When the grinding is completed, the surface image information is updated to verify whether the grinding is completed.

[0052] Step 110: Determine whether to complete grinding or update the burr range according to the updated surface image information and the inclusion between the burr features.

[0053] Whether the grinding is completed is determined by judging the inclusion between the updated surface image information and the burr features.

[0054] If the updated surface image information does not contain burr features, it means that grinding is completed.

[0055] If the updated surface image information contains burr features, it means that the grinding is not completed, and the burr range needs to be updated, and steps 102 to 110 are repeated.

[0056] Reference Figure 2 , the processing method comprises the following steps: Step 200: Obtaining a status signal of the grinding device and material parameters of the suction cup.

[0057] The status signal refers to the signal of the grinding device when it is grinding or in standby mode. The status signal is obtained through the signal transceiver in the grinding device. The material parameter refers to the material used in manufacturing the suction cup. The material parameter is obtained by scanning the QR code on the suction cup with a preset scanner. The content obtained after scanning the QR code corresponds to the material parameter.

[0058] Step 201: Determine whether to continue acquiring the state signal based on the consistency between the state signal and the preset grinding signal or determine the burr curvature based on the surface image information and the burr feature.

[0059] The grinding signal refers to the signal of the grinding device when performing grinding work. The grinding signal is set in advance by a person skilled in the art and will not be described in detail here. By judging the consistency between the state signal and the grinding signal, it is known whether the grinding device is performing grinding work.

[0060] If the status signal is inconsistent with the grinding signal, it means that the grinding device is not performing grinding work, and you can continue to obtain the status signal.

[0061] If the state signal is consistent with the grinding signal, it means that the grinding device is performing grinding work, and the burr curvature of the burr feature needs to be identified through the surface image information. The burr curvature refers to the curvature that appears due to different burr widths.

[0062] Step 202: Determine the grinding angle according to the curvature of the burr edge.

[0063] The grinding angle refers to the angle at which the grinding device grinds the burr. Since the grinding device needs to be tangent to the burr when grinding, the angle that can be tangent to it is obtained through the curvature of the burr, and then the grinding angle is known.

[0064] Step 203: Determine the grinding position according to the preset suction cup detection position and grinding angle.

[0065] The suction cup detection position refers to the position where the burr is detected on the outer surface of the suction cup. The suction cup detection position is set in advance by a person skilled in the art and will not be described in detail here. The grinding position refers to the position where the grinding device grinds the burr. The suction cup detection position and the grinding angle can be used to know the position where the grinding device is tangent to the burr when grinding, and then the grinding position can be determined.

[0066] Step 204: Matching a recycling position from a preset recycling database according to material parameters, grinding angle, grinding position and preset grinding speed.

[0067] The recycling position refers to the position where the recycling device is placed to recycle the dust dropped by grinding. The recycling position corresponding to the material parameters, grinding angle, grinding position and grinding speed can be matched through the recycling database. The recycling database contains the corresponding relationship between the material parameters, grinding angle, grinding position, grinding speed and recycling position. The recycling database is a manually set database and will not be described in detail here.

[0068] Step 205: Determine a blowing vector according to the recovery position, material parameters, and grinding angle, and control a preset blowing device to blow the dust to the recovery position with the blowing vector.

[0069] The blowing vector refers to the force and angle of the blowing of the blowing device. The blowing vector corresponding to the recovery position, material parameters and grinding angle can be obtained through the preset blowing database. The blowing database contains the corresponding relationship between the recovery position, material parameters, grinding angle and blowing vector. The blowing database is a manually set database and will not be described here. The blowing device refers to a blower used to blow dust to the recovery position. The blowing device is controlled to blow the dust to the recovery position with the blowing vector.

[0070] Reference Figure 3 , the grinding method comprises the following steps: Step 300: Match the grinding temperature from a preset grinding database according to the material parameters and the burr width.

[0071] The grinding temperature refers to the temperature generated when the grinding device grinds the burrs. The grinding database can match the grinding temperature corresponding to the material parameters and burr width. The grinding database contains the corresponding relationship between material parameters, burr width and grinding temperature. The grinding database is a manually set database and will not be described here.

[0072] Step 301: Matching a corrected rotation speed from a preset temperature database according to the grinding temperature and the preset grinding disc circumference.

[0073] The grinding disc circumference refers to the circumference of the point where the grinding wheel on the grinding device contacts the burr. The grinding disc circumference is set in advance by a person skilled in the art and will not be described in detail here. The corrected speed refers to the value used to correct the grinding speed.

[0074] The temperature database can be used to match the grinding temperature and the corrected rotation speed corresponding to the grinding disc circumference. The temperature database contains the corresponding relationship between the grinding temperature, the grinding disc circumference and the corrected rotation speed. The temperature database is a manually set database and will not be described in detail here.

[0075] Step 302: Correct the grinding speed according to the corrected speed.

[0076] The matched correction speed is used to correct the grinding speed to ensure that the grinding device can grind at the fastest grinding speed without exceeding the grinding temperature.

[0077] Step 303: Based on the grinding angle, the grinding device is controlled to grind the burr feature at a corrected grinding speed and a preset grinding grit, and the position where the grinding device contacts the suction cup during grinding is defined as the initial friction position.

[0078] The grinding mesh number refers to the coarseness of the abrasive particles in the grinding wheel. In this embodiment, the grinding mesh number of the grinding area of ​​the grinding wheel on the grinding device that is far away from the center of the circle is small, and the grinding mesh number of the grinding area close to the center of the circle is large. The smaller the grinding mesh number, the slower the grinding progress, and the larger the grinding mesh number, the higher the grinding accuracy. The grinding mesh number is set in advance by those skilled in the art and will not be described in detail here. The grinding device is controlled to grind the burr feature with the grinding angle, the corrected grinding speed and the grinding mesh number, and the position where the grinding device contacts the suction cup during grinding is defined as the initial friction position for subsequent steps.

[0079] Step 304: based on the polishing process, obtain polishing image information.

[0080] When the grinding device is grinding, grinding image information is obtained. The grinding image information refers to the image of the suction cup when the grinding device is grinding. The grinding image information is obtained by taking a photo with a camera.

[0081] Step 305: Determine the remaining grinding width according to the grinding image information and the burr feature.

[0082] The remaining grinding width refers to the remaining burr width after grinding. The remaining burr width is obtained by scanning the burr features in the grinding image information with a preset infrared scanner, and then the remaining grinding width is obtained.

[0083] Step 306: Update the grinding mesh count from the grinding database according to the remaining grinding width.

[0084] As the grinding device grinds the burrs, the remaining grinding width gradually decreases, and the grinding mesh count of the grinding device needs to be increased to improve the grinding accuracy. The remaining grinding width can be input into the grinding database to match the increased grinding mesh count, thereby updating the grinding mesh count. The grinding database contains the corresponding relationship between the remaining grinding width and the grinding mesh count.

[0085] Step 307: Determine the target friction position from the preset mesh database according to the updated grinding mesh.

[0086] The target friction position refers to the position where the grinding device needs to reach contact with the suction cup during grinding. The target friction position corresponding to the updated grinding mesh can be matched through the mesh database. The mesh database contains the corresponding relationship between the grinding mesh and the target friction position. The mesh database is a manually set database and will not be described in detail here.

[0087] Step 308: Control the grinding device to move the initial friction position to the target friction position, and update the grinding speed from the temperature database according to the target friction position and the grinding temperature.

[0088] The grinding device is controlled to move the initial friction position to the target friction position to increase the number of grinding meshes. After the movement is completed, the target friction position and the grinding speed corresponding to the grinding temperature are updated through the temperature database to ensure that the grinding efficiency remains unchanged after the friction position is changed. The temperature database contains the corresponding relationship between the target friction position grinding temperature and the grinding speed.

[0089] Step 309: Based on the grinding angle, the grinding device is controlled to grind the burr feature with the updated grinding speed and the updated grinding grit, and the grinding image information is updated.

[0090] The grinding device is controlled to grind the burr feature with the grinding angle, the updated grinding speed and the updated grinding grit, and the grinding image information is updated, thereby repeating steps 305 to 309 until the grinding is completed.

[0091] The grinding in step 300 to step 309 is fine grinding after the rough grinding in step 400 to step 408, and the fine grinding is performed in the air. During the grinding, the suction cup can be shaken to shake out the water on the suction cup.

[0092] The grinding method also includes the following steps: Step 400: When the surface image information contains burr features, control a preset clamping device to clamp the suction cup into a preset rough grinding pool.

[0093] The clamping device refers to a mechanical arm used to clamp the suction cup. The rough grinding pool refers to a pool for the suction cup to perform rough grinding. When the surface image information contains burr features, the clamping device is controlled to clamp the suction cup into the rough grinding pool for subsequent rough grinding.

[0094] Step 401: In a rough grinding pool, a rough grinding rotation speed is determined from a preset rough grinding database according to material parameters and burr width, and a rotation direction is determined according to a preset water outlet position and a preset water inlet position.

[0095] The rough grinding speed refers to the speed at which the grinding device performs rough grinding on the suction cup. The water outlet position refers to the position where the water in the rough grinding pool flows out. The water inlet position refers to the position where the water flow enters the rough grinding pool. The rotation direction refers to the direction in which the grinding wheel rotates when the grinding device performs rough grinding on the suction cup. The rough grinding speed corresponding to the material parameters and the burr width can be obtained through the rough grinding database. The rough grinding database contains the correspondence between the material parameters, the burr width and the rough grinding speed. The rough grinding database is an artificially set database and will not be described here. Since the water flow in the rough grinding pool needs to flow from the water inlet position to the water outlet position, the rotation direction can be obtained through the positional relationship between the water inlet position and the water outlet position.

[0096] Step 402: according to the rough grinding speed, the grinding device is controlled to roughly grind the suction cup along the rough edge path in the rotation direction, so that the water in the rough grinding pool flows out from the water outlet position and flows into the rough grinding pool from the water inlet position through the preset water pipe.

[0097] The water pipeline refers to a pipeline used to realize water circulation in the rough grinding pool, and the water pipeline extends from the water outlet to the water inlet. A filter device is provided at the water outlet to collect dust generated by grinding. A technician in this field will replace the filter device after a fixed time. The grinding device is controlled to perform rough grinding on the suction cup along the rough edge path at a rough grinding speed and rotation direction. A water pump is provided in the water pipeline to make the water in the rough grinding pool flow out from the water outlet and flow into the rough grinding pool from the water inlet through the water pipeline, thereby realizing water circulation in the rough grinding pool.

[0098] Step 403: During the rough grinding, water level information in the rough grinding pool is obtained.

[0099] When rough grinding, obtain the water level information in the rough grinding pool. The water level information refers to the water level height in the rough grinding pool. The water level information is obtained through the water level sensor in the rough grinding pool.

[0100] Step 404: determining whether to continue acquiring water level information or to acquire water temperature information in the rough grinding pool according to the size relationship between the water level information and the preset reference water level information.

[0101] The reference water level information refers to the height that the water level in the rough grinding pool must reach at least. The reference water level information is set in advance by those skilled in the art and will not be described in detail here. By judging the size relationship between the water level information and the reference water level information, it is known whether water replenishment is needed.

[0102] If the water level information is not less than the reference water level information, it means that there is no need to replenish the rough grinding pool and you can continue to obtain the water level information.

[0103] If the water level information is lower than the reference water level information, it means that the rough grinding pool needs to be replenished with water. The water replenishment method can be known by obtaining the water temperature information in the rough grinding pool. The water temperature information refers to the water temperature in the rough grinding pool. The water temperature information is obtained through the temperature sensor in the rough grinding pool.

[0104] Step 405: Based on the water temperature information in the rough grinding tank, the difference between the reference water level information and the water level information is calculated, and the difference is defined as the water level supplement value.

[0105] After obtaining the water temperature information in the rough grinding pool, the difference between the base water level information and the water level information is calculated to obtain the water level replenishment value. The water level replenishment value refers to the value of the water level in the rough grinding pool that needs to be replenished with water.

[0106] Step 406: According to the excess between the water temperature information and the preset reference water temperature information, the preset water replenishment equipment is controlled to replenish water with the water level replenishment value, or the ice replenishment value is matched from the preset ice database according to the water level replenishment value.

[0107] The reference water temperature information refers to the maximum temperature that the water temperature in the rough grinding pool can reach. By judging the excess between the water temperature information and the reference water temperature information, it is known whether the rough grinding pool needs to be cooled down.

[0108] If the water temperature information does not exceed the reference water temperature information, it means that there is no need to cool the rough grinding pool, and the water replenishment equipment can be directly controlled by the water level replenishment value to replenish water. The water replenishment equipment refers to the water pump used to replenish water flow in the rough grinding pool.

[0109] If the water temperature exceeds the reference water temperature, it means that the rough grinding pool needs to be cooled down. Ice can be added to achieve cooling while adding water. The ice addition value refers to the value of ice addition required for the water level in the rough grinding pool. The ice addition value corresponding to the water level addition value can be matched through the ice database. The ice database contains the correspondence between the water level addition value and the ice addition value. The ice database is a manually set database and will not be described here.

[0110] Step 407: Control the preset ice cube delivery device to deliver ice cubes to the preset ice cube delivery area according to the ice cube replenishment value, and update the water temperature information after the ice cubes are delivered.

[0111] The ice cube delivery device refers to an ice maker used to deliver ice cubes to the rough grinding pool. The ice cube delivery area refers to the area in the rough grinding pool for placing the delivered ice cubes. The ice cube delivery area is set in advance by those skilled in the art and will not be described in detail here. The ice cube delivery area is connected to the rough grinding pool, and an isolation net is provided between the two. The delivery of ice cubes into the ice cube delivery area will not affect the rough grinding pool. The ice cube delivery device is controlled to replenish ice cubes in the ice cube delivery area with the ice cube replenishment value, and after replenishment, the water temperature information is updated for subsequent steps.

[0112] Step 408: Determine whether to continue acquiring water temperature information or calculate the difference between the updated water temperature information and the baseline water temperature information based on the excess between the updated water temperature information and the baseline water temperature information, define the difference as a cooling temperature value, and control a preset cooling device to cool the water pipeline at the cooling temperature value.

[0113] By determining whether the updated water temperature information exceeds the reference water temperature information, it is determined whether the rough grinding pool needs to be further cooled.

[0114] If the updated water temperature information does not exceed the baseline water temperature information, it means that there is no need to continue cooling the rough grinding pool, and the water temperature information can be continued to be obtained.

[0115] If the updated water temperature information exceeds the reference water temperature information, it means that the rough grinding pool needs to be cooled further. The difference between the updated water temperature information and the reference water temperature information is calculated to obtain the cooling temperature value. The cooling temperature value refers to the temperature that the rough grinding pool needs to be lowered. The cooling device refers to a condenser used to cool the rough grinding pool. The cooling device is controlled to cool the water pipe at the cooling temperature value to achieve the cooling of the rough grinding pool.

[0116] The drying method comprises the following steps: Step 500: When the state signal of the grinding device is consistent with the preset standby signal, the clamping device is controlled to clamp the suction cup to the preset weighing area and obtain the weight value of the suction cup.

[0117] The standby signal refers to the signal sent by the grinding device when it is not performing grinding work. The weighing area refers to the area used to weigh the suction cup after rough grinding. The standby signal and the weighing area are both set in advance by those skilled in the art and will not be described here. When the status signal of the grinding device is consistent with the standby signal, it means that the grinding device is not performing grinding work. The clamping device can be controlled to clamp the suction cup to the weighing area and obtain the weight value of the suction cup. The suction cup weight value refers to the weight of the suction cup after it comes out of the rough grinding pool. The suction cup weight value is obtained through the pressure sensor on the weighing area.

[0118] Step 501: According to the suction cup weight value, a drying position corresponding to the suction cup weight value is matched from a preset drying database.

[0119] The drying position refers to the position for drying the suction cup. In this embodiment, there are multiple drying positions. Different suction cup weight values ​​indicate different moisture on the suction cup, and thus different drying positions. The drying position corresponding to the suction cup weight value can be matched through the drying database. The drying database contains the corresponding relationship between the suction cup weight value and the drying position. The drying database is a manually set database and will not be described in detail here.

[0120] Step 502: Determine a drying method according to the drying position.

[0121] The drying method refers to a method for drying the suction cup. In the present embodiment, there are two drying methods, one is to directly use a hot air blower to dry the suction cup with hot air, and the other is to first use a suction blower to remove moisture from the surface of the suction cup, and then use a hot air blower to dry the suction cup with hot air.

[0122] The drying position can be matched with the corresponding drying method from the drying database, which contains the corresponding relationship between the drying position and the drying method.

[0123] Step 503: Calculate the ejection distance value according to the drying position and the weighing area.

[0124] The ejection distance value refers to the distance to eject the suction cup from the weighing area to the drying position. The ejection distance value can be obtained by calculating the distance between the drying position and the weighing area.

[0125] Step 504: Match the ejection force value from a preset ejection database according to the suction cup weight value and the ejection distance value.

[0126] The ejection force value refers to the force required to eject the suction cup from the weighing area to the drying position. The ejection force value corresponding to the suction cup weight value and the ejection distance value can be matched through the ejection database. The ejection database contains the corresponding relationship between the suction cup weight value, the ejection distance value and the ejection force value. The ejection database is a manually set database and will not be described in detail here.

[0127] The pop-up force value needs to be calculated through the algorithm configuration, and the algorithm configuration is: ,in, is the weight of the suction cup, is the acceleration due to gravity, is the pop-up distance value, is the effective distance of the ejection device when it is lifted, is the ejection angle, is the pop-up force value.

[0128] The above formula can be used to clearly calculate the pop-up force value. It is measured and obtained in advance by those skilled in the art.

[0129] Example: 2kg, 9.8m / s 2 , is 10m, 0.5m, is 45°, and the formula is , we can conclude =490.08N.

[0130] Step 505: Control a preset ejection device to eject the suction cup to a corresponding drying position according to the ejection force value.

[0131] The ejection device refers to an ejector for ejecting the suction cup from the weighing area to the drying position. The ejection device is controlled to eject the suction cup to the corresponding drying position according to the ejection force value.

[0132] Step 506: Controlling a preset drying device in the drying position to dry the suction cup using a drying method.

[0133] The drying device refers to a fan for drying the suction cup. When the suction cup is located at the drying position, the drying device is controlled to dry the suction cup in a drying method.

[0134] The drying method also includes the following steps: Step 600: Calculate the difference between the suction cup weight value and a preset suction cup reference weight value, and define it as the suction cup moisture content.

[0135] The suction cup reference weight value refers to the weight of the suction cup itself when it is dry. The suction cup reference weight value is measured and obtained by a person skilled in the art in advance, and will not be described in detail here. The suction cup water content refers to the amount of water attached to the suction cup. The suction cup water content can be obtained by calculating the difference between the suction cup weight value and the suction cup reference weight value.

[0136] Step 601: Match the ejection angle from the ejection database according to the moisture content of the suction cup and the ejection distance value.

[0137] The ejection angle refers to the angle between the suction cup and the horizontal plane when ejecting. The ejection database can be used to match the ejection angle corresponding to the suction cup moisture content and the ejection distance value. The ejection database contains the corresponding relationship between the suction cup moisture content, the ejection distance value and the ejection angle.

[0138] Step 602: Update the ejection force value from the ejection database according to the ejection angle, the suction cup weight value, and the ejection distance value.

[0139] The ejection angle, the suction cup weight value, and the ejection force value corresponding to the ejection distance value are updated through the ejection database, and the ejection database contains the corresponding relationship between the ejection angle, the suction cup weight value, the ejection distance value, and the ejection force value.

[0140] Step 603: Determine the pop-up height value according to the pop-up force value, the ejection angle, and the suction cup weight value.

[0141] The pop-up height value refers to the height reached by the suction cup after being ejected. The ejection database can be used to obtain the pop-up height value corresponding to the ejection force value, ejection angle, and suction cup weight value. The ejection database contains the corresponding relationship between the ejection force value, ejection angle, suction cup weight value, and pop-up height value. And when the ejection force value is not enough to eject the suction cup to the reference height value or the pop-up height value, the preset blowing device is controlled to blow air to the suction cup while the suction cup is ejected, so as to assist the suction cup to reach the reference height value or the pop-up height value.

[0142] Step 604: Determine whether the pop-up height value is greater than a preset reference height value.

[0143] The reference height value refers to the highest height that the suction cup can reach. By judging whether the pop-up height value is greater than the reference height value, it is known whether the suction cup can be popped out at the pop-up height value.

[0144] Step 6041: If the ejection height value is not greater than the reference height value, the ejection device is controlled to eject the suction cup to the corresponding drying position according to the ejection angle and the updated ejection force value.

[0145] If the pop-up height value is not greater than the reference height value, it means that the suction cup can be popped out at the pop-up height value, and the ejection device is directly controlled to eject the suction cup to the corresponding drying position at the ejection angle and the updated ejection force value.

[0146] Step 6042: If the ejection height value is greater than the reference height value, the ejection angle is updated from the ejection database according to the reference height value.

[0147] If the pop-up height value is greater than the reference height value, it means that the suction cup cannot be popped out with the pop-up height value, and the ejection angle needs to be updated from the ejection database according to the reference height value. The ejection database contains the corresponding relationship between the reference height value and the ejection angle.

[0148] Step 60421: Correct the ejection force value according to the updated ejection angle and drying position.

[0149] The ejection angle and the ejection force value corresponding to the drying position after the update are corrected by the ejection database. The ejection database contains the corresponding relationship between the ejection angle, the drying position and the ejection force value.

[0150] Step 60422: Control the ejection device to eject the suction cup to the corresponding drying position according to the updated ejection angle and the corrected ejection force value.

[0151] The ejection device is controlled to eject the suction cup to the corresponding drying position with the updated ejection angle and the corrected ejection force value.

[0152] Step 605: Controlling the drying device to dry the suction cup using a drying method in the drying position.

[0153] When the suction cup is at the drying position, the drying device is controlled to dry the suction cup using a drying method.

[0154] The waste recycling method includes the following steps: Step 700: After the suction cup is clamped to the weighing area by the clamping device, the pool surface image information of the rough grinding pool is obtained.

[0155] When the clamping device clamps the suction cup to the weighing area, the pool surface image information of the rough grinding pool is obtained. The pool surface image information refers to the image of the water surface of the rough grinding pool. The pool surface image information is obtained by taking a photo with a camera.

[0156] Step 701: Determine whether the detection is completed or select a waste area based on the inclusion between the pool surface image information and the preset waste features.

[0157] The waste feature refers to the feature of the dust dropped during grinding in the rough grinding pool. The waste feature is set in advance by a person skilled in the art and will not be described in detail here. By judging the inclusion between the pool surface image information and the waste feature, it is known whether there is waste dropped during grinding on the water surface of the rough grinding pool.

[0158] If the pool surface image information does not contain waste features, it means that there is no waste dropped during grinding on the water surface of the rough grinding pool, and no processing is required, and the detection can be completed.

[0159] If the pool surface image information does not contain waste features, it means that there is waste dropped during grinding on the water surface of the rough grinding pool, and the waste area needs to be selected from the pool surface image information. The waste area refers to the area in the rough grinding pool where there are waste features.

[0160] Step 702: Determine the waste concentration area based on the pool surface image information and the waste area.

[0161] The waste concentration area refers to the area on the surface of the rough grinding pool where the waste is densely concentrated. The waste concentration area of ​​the waste area can be identified through the pool surface image information.

[0162] Step 703: Calculate the number of the stirring device closest to the waste concentration area from a preset number database according to the pool surface image information, the waste concentration area and the preset reference object.

[0163] A reference object refers to an object used for comparison to obtain the position of each feature in the pool surface image information. The size and position of the reference object are set in advance by a person skilled in the art, which will not be described in detail here. The pool surface image information contains the reference object. The stirring device number refers to the number on the stirring device. In this embodiment, the stirring device is arranged at the bottom of the coarse grinding pool, and there are multiple stirring devices, each with a corresponding number. The stirring device number closest to the waste concentration area can be calculated through the numbering database. The numbering database contains the correspondence between the pool surface image information, the waste concentration area, the reference object and the stirring device number. The numbering database is an artificially set database, which will not be described in detail here.

[0164] Step 704: Control the corresponding stirring device to rotate at a preset rotation speed based on the stirring device number.

[0165] The rotation speed refers to the speed at which the stirring device rotates during stirring. The rotation speed is set in advance by a person skilled in the art and will not be described in detail here. The stirring device corresponding to the stirring device number is controlled to rotate at the rotation speed, and during the rotation, the preset water-blocking cover is controlled to be lowered to the waste collection area to isolate the waste collection area and the stirring device from the outside so as to form a vortex.

[0166] Step 705: During the rotation, control the preset salvaging device to move to the position corresponding to the stirring device number to salvage the waste.

[0167] The salvaging device refers to a scoop net used to salvage waste materials. When rotating, the salvaging device is controlled to move to a position corresponding to the number of the stirring device to salvage the waste materials.

[0168] Step 706: Update the pool surface image information based on the salvage process.

[0169] After the salvage process, the pool surface image information is updated to know whether there is any waste left.

[0170] Step 707: The updated pool surface image information and the waste features are included to determine whether the salvage is completed or the waste area is updated.

[0171] By judging the inclusion between the updated pool surface image information and the waste features, it is possible to determine whether there is any waste left after salvaging.

[0172] If the updated pool surface image information does not contain waste features, it means that no waste remains, and the salvage is completed.

[0173] If the updated pool surface image information contains waste features, it means that there is waste residue, and the waste area needs to be updated and steps 702 to 707 are repeated.

[0174] The treatment method for excessive burr width includes the following steps: Step 800: Determine whether the burr width is greater than a preset reference width.

[0175] The reference width refers to the maximum width of the burr that can be directly polished. By judging whether the burr width is greater than the reference width, you can know whether to directly polish the burr.

[0176] Step 801: If the burr width is not greater than the reference width, the grinding device is controlled according to the grinding feed rate to grind the burr feature along the burr path using a grinding method.

[0177] If the burr width is not greater than the reference width, the grinding device can be directly controlled to grind the burr feature along the burr path using a grinding feed amount and a grinding method.

[0178] Step 802: If the burr width is greater than the reference width, the difference between the burr width and the preset minimum remaining width is calculated, and the difference is defined as the burr removal value.

[0179] If the burr width is larger than the reference width, it will be too time-consuming to grind the burr directly. In this case, the burr can be partially cut off by a cutting device before grinding to save grinding time.

[0180] The minimum remaining width refers to the minimum width of the burr that needs to be retained when the burr is removed. The burr removal value refers to the width of the burr that needs to be removed. The burr removal value can be obtained by calculating the difference between the burr width and the minimum remaining width.

[0181] Step 8021: Obtain the burr thickness of the burr.

[0182] The burr thickness refers to the thickness from the upper surface to the lower surface of the burr. The burr thickness is obtained by scanning with a preset infrared scanner.

[0183] Step 8022: Match the laser power from a preset laser database according to the burr thickness.

[0184] Laser power refers to the power released by the cutting device when cutting off the burr. The laser power corresponding to the burr thickness can be matched through the laser database. The laser database contains the corresponding relationship between the burr thickness and the laser power. The laser database is a manually set database and will not be described here.

[0185] Step 8023: Determine the cutting path according to the burr width and the burr cutting value.

[0186] The cutting path refers to the route taken by the cutting device when cutting the burr. The path taken by the cutting device when cutting the burr can be obtained through the burr width and the burr cutting value, and thus the cutting path can be known.

[0187] Step 8024: Control a preset cutting device to cut off the burrs along a cutting path according to the laser power.

[0188] The cutting device refers to a laser cutting machine used for cutting off burrs. The cutting device is controlled to cut off the burrs along the cutting path with laser power.

[0189] Based on the same inventive concept, an embodiment of the present invention provides a compressor suction cup assembly manufacturing system, comprising: An acquisition module is used to acquire surface image information, state signals, material parameters, polishing image information, water level information, water temperature information, suction cup weight value, pool surface image information, and burr thickness; A memory for storing a program for a method of manufacturing a suction cup assembly for a compressor; The program in the memory can be loaded and executed by the processor to implement a method for manufacturing a compressor suction cup assembly.

[0190] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0191] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for manufacturing a compressor suction cup assembly, characterized in that: include: Acquire surface image information of the suction cup; According to the inclusion between the surface image information and the preset burr features, the inspection is completed or the burr range is selected; Determine the burr width and burr path based on the burr range, the burr path includes a full-wrapped path and a half-wrapped path; Determine the grinding feed rate based on the burr width; Based on the full-package path, the grinding starting point is determined according to the maximum grinding feed amount; Controlling a preset grinding device to move to a grinding starting point, and controlling the grinding device to perform circumferential grinding of the burr feature along a full-enclosed path using a preset grinding method according to a grinding feed amount; Based on the half-wrapped path, the burr breakpoint is determined according to the surface image information and burr features; Determine the grinding range and grinding path according to the burr breakpoint and burr characteristics; According to the grinding feed amount, the grinding device is controlled to grind the burr feature back and forth along the grinding path within the grinding interval by a grinding method; Update surface image information after polishing is completed; The range of completing grinding or updating the burr edge is determined according to the updated surface image information and the inclusion condition between the burr edge features.

2. A method for manufacturing a compressor suction cup assembly according to claim 1, characterized in that: When grinding, the dust dropped by grinding is handled with the preset treatment method, which includes: Obtaining the status signal of the grinding device and the material parameters of the suction cup; Determine to continue acquiring the status signal according to the consistency between the status signal and the preset grinding signal or determine the burr curvature according to the surface image information and the burr feature; Determine the grinding angle based on the curvature of the burr edge; Determine the grinding position according to the preset suction cup detection position and grinding angle; Matching the recycling position from a preset recycling database according to material parameters, grinding angle, grinding position and preset grinding speed; The blowing vector is determined according to the recovery position, material parameters and grinding angle, and the preset blowing device is controlled to blow the dust to the recovery position with the blowing vector.

3. A method for manufacturing a compressor suction cup assembly according to claim 2, characterized in that: Grinding methods include: Match the grinding temperature from the preset grinding database according to the material parameters and burr width; According to the grinding temperature and the preset grinding disc circumference, a correction speed is matched from a preset temperature database; Correct the grinding speed according to the correction speed; Based on the grinding angle, the grinding device is controlled to grind the burr feature at a corrected grinding speed and a preset grinding grit, and the position where the grinding device contacts the suction cup during grinding is defined as an initial friction position; Based on the polishing process, polishing image information is obtained; Determine the remaining grinding width according to the grinding image information and the burr characteristics; Update the grinding mesh count from the grinding database according to the remaining grinding width; Determine the target friction position from the preset grit database according to the updated grinding grit; Controlling the grinding device to move the initial friction position to the target friction position, and updating the grinding speed from the temperature database according to the target friction position and the grinding temperature; Based on the grinding angle, the grinding device is controlled to grind the burr feature with the updated grinding rotation speed and the updated grinding grit, and the grinding image information is updated.

4. A method for manufacturing a compressor suction cup assembly according to claim 3, characterized in that: Grinding methods also include: When the surface image information contains burr features, a preset clamping device is controlled to clamp the suction cup into a preset rough grinding pool; In the rough grinding pool, the rough grinding speed is determined from a preset rough grinding database according to material parameters and burr width, and the rotation direction is determined according to a preset water outlet position and a preset water inlet position; According to the rough grinding speed, the grinding device is controlled to roughly grind the suction cup along the burr path in the rotation direction, so that the water in the rough grinding pool flows out from the water outlet position and flows into the rough grinding pool from the water inlet position through the preset water channel; Based on the rough grinding, the water level information in the rough grinding pool is obtained; Determine to continue to obtain water level information or obtain water temperature information in the rough grinding pool according to the size relationship between the water level information and the preset reference water level information; Based on the water temperature information in the rough grinding pool, the difference between the reference water level information and the water level information is calculated, and the difference is defined as the water level supplement value; According to the excess between the water temperature information and the preset reference water temperature information, the preset water replenishment equipment is controlled to replenish water with the water level replenishment value, or the ice replenishment value is matched from the preset ice database according to the water level replenishment value; According to the ice replenishment value, the preset ice delivery device is controlled to replenish ice in the preset ice delivery area, and after replenishment, the water temperature information is updated; According to the excess between the updated water temperature information and the benchmark water temperature information, determine to continue to obtain the water temperature information or calculate the difference between the updated water temperature information and the benchmark water temperature information, define the difference as the cooling temperature value, and control the preset cooling device to cool the water pipeline at the cooling temperature value.

5. A method for manufacturing a compressor suction cup assembly according to claim 4, characterized in that: Also includes: When the state signal of the grinding device is consistent with the preset standby signal, the clamping device is controlled to clamp the suction cup to the preset weighing area and obtain the weight value of the suction cup; According to the suction cup weight value, a drying position corresponding to the suction cup weight value is matched from a preset drying database; Determine the drying method according to the drying location; Calculate the ejection distance value according to the drying position and weighing area; Matching the ejection force value from a preset ejection database according to the suction cup weight value and the ejection distance value; According to the ejection force value, a preset ejection device is controlled to eject the suction cup to the corresponding drying position; In the drying position, a preset drying device is controlled to dry the suction cup using a drying method.

6. A method for manufacturing a compressor suction cup assembly according to claim 5, characterized in that: Also includes: Calculate the difference between the suction cup weight value and the preset suction cup reference weight value, and define it as the suction cup moisture content; Match the ejection angle from the ejection database according to the moisture content of the suction cup and the ejection distance value; Update the ejection force value from the ejection database according to the ejection angle, the suction cup weight value and the ejection distance value; Determine the ejection height value based on the ejection force value, ejection angle, and suction cup weight value; Determine whether the pop-up height value is greater than the preset reference height value; If the ejection height value is not greater than the reference height value, the ejection device is controlled to eject the suction cup to the corresponding drying position according to the ejection angle and the updated ejection force value; If the ejection height value is greater than the reference height value, the ejection angle is updated from the ejection database according to the reference height value; Correct the ejection force value according to the updated ejection angle and drying position; According to the updated ejection angle and the corrected ejection force value, the ejection device is controlled to eject the suction cup to the corresponding drying position; The drying device is controlled in the drying position to dry the suction cup using a drying method.

7. The method for manufacturing a compressor suction cup assembly according to claim 4, characterized in that: Also includes: After the suction cup is clamped to the weighing area by the clamping device, the pool surface image information of the rough grinding pool is obtained; Determine the completion of detection or select the waste area based on the inclusion between the pool surface image information and the preset waste features; Determine the waste concentration area based on pool surface image information and waste area; Calculate the number of the stirring device closest to the waste concentration area from a preset number database according to the pool surface image information, the waste concentration area and the preset reference object; Based on the stirring device number, controlling the corresponding stirring device to rotate at a preset rotation speed; When rotating, the preset salvaging device is controlled to move to the position corresponding to the number of the stirring device to salvage the waste; Based on the salvage process, update the pool surface image information; The inclusion between the updated pool surface image information and the waste features is used to determine the completion of salvaging or updating the waste area.

8. The method for manufacturing a compressor suction cup assembly according to claim 1, characterized in that: Also includes: Determine whether the burr width is greater than a preset reference width; If the burr width is not greater than the reference width, the grinding device is controlled according to the grinding feed amount to grind the burr feature along the burr path using a grinding method; If the burr width is greater than the reference width, the difference between the burr width and the preset minimum retention width is calculated, and the difference is defined as the burr removal value; Get the burr thickness of the burr; According to the burr thickness, the laser power is matched from the preset laser database; Determine the cutting path according to the burr width and burr cutting value; The preset cutting device is controlled according to the laser power to cut the burrs along the cutting path.

9. The method for manufacturing a compressor suction cup assembly according to claim 6, characterized in that: The pop-up force value needs to be calculated through the algorithm configuration, and the algorithm configuration is: ,in, is the weight of the suction cup, is the acceleration due to gravity, is the pop-up distance value, is the effective distance of the ejection device when it is lifted, is the ejection angle, is the pop-up force value.

10. A compressor suction cup assembly manufacturing system, characterized in that: include: An acquisition module is used to acquire surface image information, state signals, material parameters, polishing image information, water level information, water temperature information, suction cup weight value, pool surface image information, and burr thickness; A memory for storing a program of a method for manufacturing a compressor suction cup assembly according to any one of claims 1 to 9; The program in the memory can be loaded and executed by the processor to implement a compressor suction cup assembly manufacturing method as described in any one of claims 1 to 9.

Images